Transcript An Event-Based Robotic Sensors and Actuators Collection API from

An Event-Based Robotic Sensors and
Actuators Collection API from A
Computer Science Perspective –
An implementation in Mindstorms
NXT Brick
Li-Ren Chien and Daniel J. Buehrer
Reporter : Ph.D. (ABD) Li-Ren Chien
Department of Computer Science and Information
Engineering, National Chung Cheng University
INTRODUCTION
• Robin R. Muephy, “Introduction to AI Robotics,”
(The MIT Press, 2000)
Users can be easy to combine programming,
networks, operating systems, algorithms …
everything about CS into a robotic system
• We introduce an event-based robotic sensors
and actuators collection API from a computer
science perspective
What’s it?
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•
•
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It’s a java API
event-based IOs collection
over an IP network
Be expressed with a self mode
functions of kinematics by Alonzo Kelly’s
report (Alonzo Kelly, “Essential Kinematics for Autonomous Vehicles,
1994)
• An educational application layer with TDD
classification by power set of three variables value
consisting of IOs, bricks and hosts
HBS framework
• Historically, most robotics API has been written
from the mechanical engineering perspective that
was focus on developing robotic itself.
• We present a HBS framework that is based on
computer science, information engineering and
education perspective.
• It consists of
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networking,
communication,
knowledge representation
educational theory… etc
HBS framework (Cont.)
• The framework of an educational robotic
should comprise host (H), brick (B) and
sensor/actuator (S)
– Host
A host involves a device with a dependent high level
CPU at least and running under an operation
system that supports IP network and wireless
protocols such as IR, Bluetooth and WiMAX. The
API is planning to persist in a host. Under this
specification, a host could be a PC, a notebook, a
PDA or an OLPC of MIT Media Lab.
HBS framework (Cont.)
– Brick
A brick is light micro-processor system with wireless
supports. A brick can be controlled by hosts and
controls sensors and actuators.
•
For example, the underlayer of LEGO mindstroms NXT
embedded system firmware with the Bluetooth hardware
and driver communicates with a PC by NXT
communication protocol.
– Sensor and actuator
The sensor as an input component whiles the actuator
as an output of a logical robotic system similarly in a
computer system aspect. The sensor and actuator is
communicate and controlled by a brick directly.
HBS framework (Cont.)
Bluetooth
Sensors
Sensors
Sensors
Sensors
Brick
Actuators
Actuators
Actuators
H
O
S
T
Sensors
Sensors
Sensors
Sensors
Brick
Actuators
Actuators
Actuators
IP network
Sensors
Sensors
Sensors
Sensors
Brick
Actuators
Actuators
Actuators
H
O
S
T
Sensors
Sensors
Sensors
Sensors
Brick
Bluetooth
Figure 1. Framework of hosts, bricks and sensor and actuators
Actuators
Actuators
Actuators
Event based collection
Host1, Brick 1, Sensor/Actuator 1
Collection of values of 3 variables
Event notification
S
Value change
f(h1,b1,s1)
Logic expression filter
B
f(h2,b2,s2)
H
Event notification
Logic expression filter
Figure 2. The event notification flow
H
O
S
T
Applying HBS on Education
• Power set of {H,B,S}
– {H}, {B}, {S}, {H,B}, {B,S}, {H,S}, {H,B,S}
• David J. “An International View of Robotics”,
(International Conference on Engineering
Education, U.K, August 2002)
– Seventeen fields for four grous(Jr, Hi, Stud, Eng)
via two types of training (Progress in theory,
Progress in practice)
Conclusion
• In this paper, we designed an educational
oriented event-based sensor and actuators
collection API via three variables (S, B, H).
• We can take such a framework as a base to adapt
a robotic system to discussion in education.
• At the same time, an event based collection API
on HBS with semantic content self-model is facile
for a distributed cooperative robotic system.
• The API works with the Lego Mindstorms NTX as
an application extension of the computer
programming language course in Hsing Kuo
Senior High School in Taiwan